Gait Generation for a Walking Robot with Passive Joints

Kazunori Kaede; Tooru Nogai

doi:10.20965/jrm.2008.p0785

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JRM Vol.20 No.5 pp. 785-792

doi: 10.20965/jrm.2008.p0785

(2008)

Paper:

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Gait Generation for a Walking Robot with Passive Joints

Kazunori Kaede^* and Tooru Nogai^**

^* Graduate school of Science and Engineering, Shizuoka University, 3-5-1 Jyohoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan

^** Faculty of Engineering, Shizuoka University, 3-5-1 Jyohoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan

Received:

June 18, 2007

Accepted:

January 24, 2008

Published:

October 20, 2008

Keywords:

mechatronics, mechanism, robot, moving robot, legged locomotion

Abstract

We selected a three-legged robot to study passive walking. The robot consists of one actuated leg and one pair of passive legs. The active leg has a knee joint and an ankle joint. The passive legs, which we call “crutches,” have no knee joints, but it do have passive ankle joints. The crutches and the leg are connected by a hip joint. The robot behavior is passive while it supports itself on its crutches and swings its leg. In order for the robot to have a wide stride and be stable after the leg swings out and lands, a referenced trajectory of the leg's swing is generated by a planar, four-link model simulation to evaluate its posture after the leg lands. The pattern of walking applies to the robot's actual walk on level ground. An additional walking robot that has a knee joint that is permitted to rotate freely has been designed. The lower leg is equipped with a solenoid magnet which keeps the knee joint straight. The knee joint bends and the leg swings in response to a change in the input torque to the hip joint.

Cite this article as:

K. Kaede and T. Nogai, “Gait Generation for a Walking Robot with Passive Joints,” J. Robot. Mechatron., Vol.20 No.5, pp. 785-792, 2008.

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References

[1] http://www.mstc.or.jp/hrp/main.html
[2] Y. Ogura, H. Aikawa, H. Lim, and A. Takanishi, “Development of a Human-like Walking Robot Having Two 7-DOF Legs and a 2-DOF Waist,” Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation, pp. 134-139, 2004.
[3] http://www.honda.co.jp/ASIMO/
[4] T. McGeer, “Passive Dynamic Walking,” Int. J. of Robotics Research, 9-2, pp. 62-82, 1990.
[5] A. Goswami, B. Thuilot, and B. Espiau, “Compass-like biped robot Part I: Stability and bifurcation of passive gaits,” INRIA, 1996.
[6] F. Asano, Z. Luo, and M. Yamakita, “Gait Generation and Control for Biped Robots Based on Passive Dynamic Walking,” J. of the Robotics Society of Japan, 22-1, pp. 130-139, 2004.
[7] K. Osuka, Y. Sugimoto, and T. Sugie, “Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control,” J. of the Robotics Society of Japan, 22-2, pp. 193-199, 2004.
[8] Y. Ikemata, A. Sano, and H. Fujimoto, “Generation and Local Stabilization of Fixed Point based on a Stability Mechanism of Passive Walking,” J. of the Robotics Society of Japan, 24-5, pp. 632-639, 2006.
[9] K. Ono, R. Takahashi, and T. Shimada, “Self-Excited Walking of a BipedMechanism,” The Int. J. of Robotics Research, 20-12, pp. 953-966, 2001.
[10] T. Kinugasa and S. Miwa, “Frequency Response of Self-Oscillation Type Biped with Variable Length Legs,” Proc. of the 12th Robotics symposia, pp. 184-189, 2007.
[11] T. Kinugasa, K. Osuka, and S. Miwa, “Biped Walking by Variations of Knee Lengths and Attitude Control of a Body and its Frequency Analysis,” J. of the Robotics Society of Japan, 25-3, pp. 440-447, 2007.
[12] S. Hirose, “Robotics –Vector Analysis of Mechanical System–,” Shokabo, 1987.
[13] W. H. Press, S. A. Teukolsky, W. T. Vetterling, and B. P. Flannery, “Numerical Recipes in C,” Gijutsu Hyoron sya, 1993.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] http://www.mstc.or.jp/hrp/main.html

[2] [2] Y. Ogura, H. Aikawa, H. Lim, and A. Takanishi, “Development of a Human-like Walking Robot Having Two 7-DOF Legs and a 2-DOF Waist,” Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation, pp. 134-139, 2004.

[3] [3] http://www.honda.co.jp/ASIMO/

[4] [4] T. McGeer, “Passive Dynamic Walking,” Int. J. of Robotics Research, 9-2, pp. 62-82, 1990.

[5] [5] A. Goswami, B. Thuilot, and B. Espiau, “Compass-like biped robot Part I: Stability and bifurcation of passive gaits,” INRIA, 1996.

[6] [6] F. Asano, Z. Luo, and M. Yamakita, “Gait Generation and Control for Biped Robots Based on Passive Dynamic Walking,” J. of the Robotics Society of Japan, 22-1, pp. 130-139, 2004.

[7] [7] K. Osuka, Y. Sugimoto, and T. Sugie, “Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control,” J. of the Robotics Society of Japan, 22-2, pp. 193-199, 2004.

[8] [8] Y. Ikemata, A. Sano, and H. Fujimoto, “Generation and Local Stabilization of Fixed Point based on a Stability Mechanism of Passive Walking,” J. of the Robotics Society of Japan, 24-5, pp. 632-639, 2006.

[9] [9] K. Ono, R. Takahashi, and T. Shimada, “Self-Excited Walking of a BipedMechanism,” The Int. J. of Robotics Research, 20-12, pp. 953-966, 2001.

[10] [10] T. Kinugasa and S. Miwa, “Frequency Response of Self-Oscillation Type Biped with Variable Length Legs,” Proc. of the 12th Robotics symposia, pp. 184-189, 2007.

[11] [11] T. Kinugasa, K. Osuka, and S. Miwa, “Biped Walking by Variations of Knee Lengths and Attitude Control of a Body and its Frequency Analysis,” J. of the Robotics Society of Japan, 25-3, pp. 440-447, 2007.

[12] [12] S. Hirose, “Robotics –Vector Analysis of Mechanical System–,” Shokabo, 1987.

[13] [13] W. H. Press, S. A. Teukolsky, W. T. Vetterling, and B. P. Flannery, “Numerical Recipes in C,” Gijutsu Hyoron sya, 1993.

Gait Generation for a Walking Robot with Passive Joints

Kazunori Kaede* and Tooru Nogai**

Kazunori Kaede^* and Tooru Nogai^**